learning.py 文件源码

def publish(self):
        if self.learning is not None:
            with self.lock_iteration:
                focus = copy(self.focus)
                ready = copy(self.ready_for_interaction)

            self.pub_ready.publish(Bool(data=ready))
            self.pub_user_focus.publish(String(data=focus if focus is not None else ""))
            self.pub_focus.publish(String(data=self.learning.get_last_focus()))
            self.pub_iteration.publish(UInt32(data=self.learning.get_iterations()))


    ################################# Service callbacks